4 papers
Short-Horizon Position Accuracy of Single-Track Models: Implications for Motion Planning of Autonomous Vehicles
Aron J. Aertssen, Lars A. T. H. van Alen, Igo J. M. Besselink +2
Accurate and computationally efficient vehicle models are essential for motion planning of autonomous vehicles, where positional accuracy directly affects trajectory feasibility an…
Trajectory Planning for an Articulated Commercial Vehicle using Model Predictive Contouring Control
A. J. Aertssen, R. G. M. Huisman, I. J. M. Besselink +2
This paper presents a trajectory planning method for articulated commercial vehicles, specifically tractor-semitrailers, based on Model Predictive Contouring Control (MPCC). Althou…
Action-Aware Pro-Active Safe Exploration for Mobile Robot Mapping
Aykut Ä°Åleyen, René van de Molengraft, Ãmür Arslan
Safe autonomous exploration of unknown environments is an essential skill for mobile robots to effectively and adaptively perform environmental mapping for diverse critical tasks.…
Adaptive Dual-Headway Unicycle Pose Control and Motion Prediction for Optimal Sampling-Based Feedback Motion Planning
Aykut Ä°Åleyen, Abhidnya Kadu, René van de Molengraft +1
Safe, smooth, and optimal motion planning for nonholonomically constrained mobile robots and autonomous vehicles is essential for achieving reliable, seamless, and efficient autono…